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Add Reef Position Helper

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This commit is contained in:
Michael Mikovsky
2025-01-16 16:51:09 -07:00
parent 063fb74b78
commit 56f3ccf0c5
4 changed files with 107 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/Vision.java
+2 -1
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@@ -31,6 +31,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.Constants.FieldConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
@@ -67,7 +68,7 @@ public class Vision extends Subsystem {
this.camera = camera;
SmartDashboard.putData(field);
photonEstimator = new PhotonPoseEstimator(VisionConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.CAMERA_POS);
photonEstimator = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.CAMERA_POS);
photonEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
}